/*
 * Copyright (c) 2009, Willow Garage, Inc.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the Willow Garage, Inc. nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */

/** \author Mrinal Kalakrishnan, Ken Anderson */

#include <gtest/gtest.h>

#include <distance_field/voxel_grid.h>
#include <ros/ros.h>

using namespace distance_field;

TEST(TestVoxelGrid, TestReadWrite)
{
  int i;
  int def=-100;
  VoxelGrid<int> vg(0.02,0.02,0.02,0.01,0,0,0, def);

  int numX = vg.getNumCells(DIM_X);
  int numY = vg.getNumCells(DIM_Y);
  int numZ = vg.getNumCells(DIM_Z);

  // Check dimensions
  EXPECT_EQ(numX,2);
  EXPECT_EQ(numY,2);
  EXPECT_EQ(numZ,2);

  // check initial values
  vg.reset(0);

  i=0;
  for (int x=0; x<numX; x++)
    for (int y=0; y<numY; y++)
      for (int z=0; z<numZ; z++)
      {
        EXPECT_EQ( vg.getCell(x,y,z), 0);
        i++;
      }

  // Check out-of-bounds query    // FIXME-- this test fails!!
  //EXPECT_EQ( vg.getCell(999,9999,999), def );
  //EXPECT_EQ( vg.getCell(numX+1,0,0), def);
  //EXPECT_EQ( vg.getCell(0,numY+1,0), def);
  //EXPECT_EQ( vg.getCell(0,0,numZ+1), def);

  // Set values
  i=0;
  for (int x=0; x<numX; x++)
    for (int y=0; y<numY; y++)
      for (int z=0; z<numZ; z++)
      {
        vg.getCell(x,y,z) = i;
        i++;
      }

  // check reset values
  i=0;
  for (int x=0; x<numX; x++)
    for (int y=0; y<numY; y++)
      for (int z=0; z<numZ; z++)
      {
        EXPECT_EQ(i, vg.getCell(x,y,z));
        i++;
      }

}

int main(int argc, char **argv){
  testing::InitGoogleTest(&argc, argv);
  return RUN_ALL_TESTS();
}
